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   <div id="projectname">Swarm Trajectory Planning
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   <div id="projectbrief">Contains tools for measuring UAV swarm performance when flying through a path graph and allows the UAV swarm to fly through a generated graph.</div>
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<div class="header">
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="classCheckpoint-members.html">List of all members</a>  </div>
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<div class="title">Checkpoint Class Reference</div>  </div>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ac77ce3a0d510c48f332f05533191604b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classCheckpoint.html#ac77ce3a0d510c48f332f05533191604b">Checkpoint</a> (const ros::NodeHandle &amp;nh, const int &amp;uavCount)</td></tr>
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<tr class="memitem:a7fff1a4a6a71c2150a969fbe40d01c34"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classCheckpoint.html#a7fff1a4a6a71c2150a969fbe40d01c34">~Checkpoint</a> ()</td></tr>
<tr class="separator:a7fff1a4a6a71c2150a969fbe40d01c34"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9723c29046d6e60f593b9975ced698bf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classCheckpoint.html#a9723c29046d6e60f593b9975ced698bf">measureTime</a> (Eigen::Vector3d startPos, Eigen::Vector3d endPos, float radius)</td></tr>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="memname">Checkpoint::Checkpoint </td>
          <td>(</td>
          <td class="paramtype">const ros::NodeHandle &amp;&#160;</td>
          <td class="paramname"><em>nh</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const int &amp;&#160;</td>
          <td class="paramname"><em>uavCount</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p><a class="el" href="classCheckpoint.html">Checkpoint</a> constructor - registers subscribers to the ROS node handle </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">nh</td><td>ros NodeHandle </td></tr>
    <tr><td class="paramname">uavCount</td><td>number of UAVs </td></tr>
  </table>
  </dd>
</dl>

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          <td class="memname">Checkpoint::~Checkpoint </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p><a class="el" href="classCheckpoint.html">Checkpoint</a> destructor - deletes all <a class="el" href="classUAV.html">UAV</a> intstances </p>

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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">void Checkpoint::measureTime </td>
          <td>(</td>
          <td class="paramtype">Eigen::Vector3d&#160;</td>
          <td class="paramname"><em>startPos</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Vector3d&#160;</td>
          <td class="paramname"><em>endPos</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>radius</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Measures time from the moment all UAVs enter the starting circle until the moment all UAVs enter the goal circle </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">startPos</td><td>center of the starting circle </td></tr>
    <tr><td class="paramname">endPos</td><td>center of the ending circle </td></tr>
    <tr><td class="paramname">radius</td><td>radius of the circles </td></tr>
  </table>
  </dd>
</dl>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>headers/<a class="el" href="Checkpoint_8h_source.html">Checkpoint.h</a></li>
<li>src/<a class="el" href="Checkpoint_8cpp.html">Checkpoint.cpp</a></li>
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